ARG CUDA="11.3.1"

ARG UBUNTU="20.04"

ARG OPENCV="4.5.2"

ARG ARCH=""

FROM thecanadianroot/opencv-cuda:ubuntu${UBUNTU}-cuda${CUDA}-opencv${OPENCV}${ARCH}

ENV DEBIAN_FRONTEND=noninteractive

## ROS CORE

# setup timezone

RUN echo 'Etc/UTC' > /etc/timezone; ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime; exit 0

RUN apt-get update && apt-get install -q -y --no-install-recommends tzdata

# install packages

RUN apt-get update && apt-get install -q -y --no-install-recommends dirmngr gnupg2

# setup keys

RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

# setup sources.list

RUN echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list

# setup environment

ENV LANG C.UTF-8

ENV LC_ALL C.UTF-8

ENV ROS_DISTRO noetic

# install ros packages

RUN apt-get update && apt-get install -y --no-install-recommends ros-noetic-ros-core=1.5.0-1*

## ROS BASE

# install bootstrap tools

RUN apt-get update && apt-get install --no-install-recommends -y build-essential python3-rosdep python3-rosinstall python3-vcstools

# bootstrap rosdep

RUN rosdep init && rosdep update --rosdistro $ROS_DISTRO

# install ros packages

RUN apt-get update && apt-get install -y --no-install-recommends ros-noetic-ros-base=1.5.0-1*

## ROS PERCEPTION

# install ros packages

RUN apt-get update && apt-get install -y --no-install-recommends ros-noetic-perception=1.5.0-1*

RUN apt remove -y ros-noetic-vision-opencv

RUN apt -y install ros-noetic-cv-bridge

COPY ros_entrypoint.sh /

RUN chmod +x /ros_entrypoint.sh

RUN rm -rf /var/lib/apt/lists/*

ENTRYPOINT ["/ros_entrypoint.sh"]

CMD ["bash"]